CN116692015B - Online ice shape measuring method based on ultrasonic imaging - Google Patents
Online ice shape measuring method based on ultrasonic imaging Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D15/00—De-icing or preventing icing on exterior surfaces of aircraft
- B64D15/20—Means for detecting icing or initiating de-icing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/06—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring contours or curvatures
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The application discloses an online ice shape measuring method based on ultrasonic imaging, which comprises the following steps: acquiring position information of an ice body based on an ultrasonic guided wave phased array; acquiring a two-dimensional ultrasonic image of the ice body based on an ultrasonic echo phased array; and acquiring a three-dimensional ice-shaped image of the ice body based on the position information and the two-dimensional ultrasonic image. According to the application, the icing information of the surface of the aircraft can be obtained in real time through the ultrasonic guided wave phased array and the ultrasonic echo phased array, and an accurate icing ice three-dimensional image can be provided for aviation crew in real time in the actual running environment of the aircraft; in addition, due to the characteristics of ultrasonic waves, the application can effectively reduce the influence of water mist and ice particles on measurement in the actual running environment.
Description
Technical Field
The application relates to the technical field of icing detection, in particular to an online ice shape measurement method based on ultrasonic imaging.
Background
Icing is a physical phenomenon that is widely found in flight practice and is one of the major hazards responsible for flight safety accidents. When an aircraft flies under freezing weather conditions with the ambient temperature lower than or near the freezing point, supercooled water drops in the atmosphere strike the surfaces of aircraft components, and icing phenomena can occur on the surfaces of components such as wings, tail wings, rotors, air inlets, windshields, radomes, instrument sensors and the like. Researches show that the icing is closely related to parameters such as liquid water content, average water drop diameter, temperature, icing time, flying speed, attack angle and the like, so that the icing and protection problem of the aircraft are always important research contents in the aviation field, and the icing position and icing shape of key parts of the aircraft are accurately detected, so that the method has important practical significance and value.
At present, a series of ice shape measurement methods including icing numerical calculation, icing wind tunnel test and the like are formed, such as patent CN113483984a, but in an actual running environment, icing environment parameters usually show a series of complex characteristics of unsteady time, non-uniform space and the like, so that the prior art still cannot accurately obtain real-time ice shape parameters.
Disclosure of Invention
The application discloses an online ice shape measuring method based on ultrasonic imaging, which is used for acquiring the frozen ice shape of the surface of an airplane in real time.
In order to solve the problems, the application adopts the following technical scheme:
the application provides an online ice shape measuring method based on ultrasonic imaging, which comprises the following steps:
acquiring position information of an ice body based on an ultrasonic guided wave phased array;
acquiring a two-dimensional ultrasonic image of the ice body based on an ultrasonic echo phased array;
and acquiring a three-dimensional ice-shaped image of the ice body based on the position information and the two-dimensional ultrasonic image.
Further, the acquiring the position information of the ice body based on the ultrasonic guided wave phased array comprises the following steps:
establishing a three-dimensional volume coordinate system V based on the array element geometric center of an ultrasonic echo phased array, and calibrating the ultrasonic guided wave phased array in the three-dimensional volume coordinate system V;
acquiring coordinate information of the ice body based on the ultrasonic guided wave phased array and the three-dimensional volume coordinate system V;
and acquiring the three-dimensional coordinates of the icing range contour line based on the coordinate information of the ice body.
Further, the acquiring the two-dimensional ultrasonic image of the ice body based on the ultrasonic echo phased array includes:
acquiring a scanning path of an ultrasonic echo phased array based on the three-dimensional coordinates of the icing range contour line;
acquiring focusing coordinates of ultrasonic beam of ultrasonic echo phased array at scanning positions at all places based on scanning path, wherein ,/>Is the first on the scanning pathfFocus coordinates at;
based on the scan path and the focus coordinatesTwo-dimensional ultrasonic images of the scanning positions of the ice body on the scanning path are obtained.
Further, based on the focus coordinatesAnd the two-dimensional ultrasonic image is used for acquiring a three-dimensional ice-shaped image of the ice body, and the method comprises the following steps:
based on the focus coordinatesAcquiring the focus coordinate +.>The corresponding deflection angle and deflection displacement of the ultrasonic beam;
acquiring pixel points and resolution of the two-dimensional ultrasonic image based on the two-dimensional ultrasonic image;
and acquiring a three-dimensional ice-shape image of the ice body based on the deflection angle of the ultrasonic beam, the deflection displacement of the ultrasonic beam, the pixel point of the two-dimensional ultrasonic image and the resolution of the two-dimensional ultrasonic image.
Further, the focus coordinateAcquiring the focus coordinate +.>The corresponding deflection angle and deflection displacement of the ultrasonic beam include:
based on the focus coordinatesAcquiring the focusing coordinates corresponding to the ultrasonic echo phased arrayThe array center of the active array element of the excited ultrasound beam in the three-dimensional volume coordinate system V>And the expression vector of the ultrasound beam in the three-dimensional volume coordinate system V +.>，
The expression vectorComprising:
（1）
wherein ,、/>、/>unit vectors in the X direction and the Y direction in the three-dimensional volume coordinate system V respectively; /> and />Expression vector +.>And an included angle between the three-dimensional volume coordinate system V and the Y axis and the Z axis.
Further, the acquiring the pixel point and the resolution of the two-dimensional ultrasonic image based on the two-dimensional ultrasonic image includes:
establishing a two-dimensional ultrasonic image coordinate system B based on the two-dimensional ultrasonic image;
based on the two-dimensional ultrasonic image coordinate system B, acquiring the coordinates of pixel points of the two-dimensional ultrasonic section imageu，v) And resolution of the two-dimensional ultrasound image in the direction of the transverse axis of the two-dimensional ultrasound image coordinate system BAnd resolution in the direction of the longitudinal axis->。
Further, the acquiring the three-dimensional ice-shape image of the ice body based on the deflection angle of the ultrasonic beam, the deflection displacement of the ultrasonic beam, the pixel point of the two-dimensional ultrasonic image, and the resolution of the two-dimensional ultrasonic image includes:
based on conversion formula conversion, projecting pixel points of the two-dimensional ultrasonic section image into a three-dimensional volume coordinate system V, and obtaining a three-dimensional ice image of the ice body; wherein the coordinate conversion formula includes:
（2）
wherein ,a transformation matrix for a two-dimensional ultrasound image coordinate system B to a three-dimensional volume coordinate system V, comprising: （3）
wherein ,、/> and />Expression vector +.>And the included angles of the three-dimensional volume coordinate system V and the Y axis, the Z axis and the X axis.
Further, three-dimensional reconstruction is carried out on the three-dimensional ice-shaped image based on an interpolation method, and a three-dimensional reconstruction graph of the ice body is obtained.
The technical scheme adopted by the application can achieve the following beneficial effects:
according to the application, the icing information of the surface of the aircraft can be obtained in real time through the ultrasonic guided wave phased array and the ultrasonic echo phased array, and an accurate icing ice three-dimensional image can be provided for aviation crew in real time in the actual running environment of the aircraft; in addition, due to the characteristics of ultrasonic waves, the application can effectively reduce the influence of water mist and ice particles on measurement in the actual running environment.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of an embodiment of the present application;
FIG. 2 is a schematic diagram of an ultrasonic guided wave phased array and an ultrasonic echo phased array for detecting ice on an aircraft wing in an embodiment of the application;
FIG. 3 is a schematic view of an ultrasonic echo phased array scanning of ice on an aircraft wing in an embodiment of the application;
FIG. 4 is a schematic view of ultrasonic beam scanning deflection of an ultrasonic echo phased array in an embodiment of the application;
in the figure:
10-ultrasonic guided wave phased array, 20-ultrasonic echo phased array, 30-ice body and 40-wing.
Detailed Description
The application will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, related operations of the present application have not been shown or described in the specification in order to avoid obscuring the core portions of the present application, and may be unnecessary to persons skilled in the art from a detailed description of the related operations, which may be presented in the description and general knowledge of one skilled in the art.
Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.
The online ice shape measuring method based on ultrasonic imaging provided by the embodiment of the application is described in detail below through specific embodiments and application scenes thereof.
In some embodiments of the present application, an online ice shape measurement method based on ultrasonic imaging is provided, which can acquire an icing position of an icing ice body 30 and a two-dimensional ultrasonic image of the icing ice body 30 in real time based on an ultrasonic guided wave phased array 10 and an ultrasonic echo phased array 20, and obtain a three-dimensional ice shape image of the icing ice body 30 after three-dimensional conversion, so as to realize real-time detection of the icing ice body 30.
The principle of the ultrasonic guided wave icing detection technology is that ultrasonic waves which are continuously reflected by the upper boundary and the lower boundary and are transmitted in parallel to the plate surface are generated by excitation of a transmitting end. As the ultrasonic wave propagates through the ice layer, its own characteristics (e.g., phase velocity, group velocity, amplitude, etc.) change. After passing through the ice layer, the ultrasonic wave continues to advance along the direction parallel to the plate surface. The receiving end receives the ultrasonic wave passing through the ice layer, and the icing condition on the ultrasonic wave propagation path can be obtained by extracting the corresponding variable quantity of the ultrasonic wave and comparing the propagation characteristics of the ultrasonic wave in the ice layer. The sensor probe of the ultrasonic guided wave icing detection technology is small in size and light in weight, can be flush-mounted on the inner surface of the aircraft skin, and avoids the influence on the aerodynamic appearance of the aircraft; secondly, by selecting proper types of ultrasonic waves, non-ice pollutants on the surface of the skin can be distinguished by using an ultrasonic guided wave icing detection technology, so that the influence of other impurities in the atmosphere on the sensor is reduced; finally, the ultrasonic wave propagating along the waveguide direction has the characteristics of small along-path attenuation and large propagation range. Therefore, the icing condition of a large area can be monitored by arranging fewer ultrasonic probes.
The principle of the ultrasonic echo icing detection technology is as follows: the probe attached to the medium surface transmits pulse signals, the surface of the ice layer reflects the pulse signals to form echo signals, and the probe receives the echo signals and calculates relevant information of the ice layer according to ultrasonic pulse parameters (transit time and attenuation coefficient) acquired by the sensor. Although the echo method has certain advantages in the aspects of detecting ice thickness and ice type, because the propagation direction of ultrasonic waves excited by the echo method is perpendicular to the plate surface and the probes need to be fixedly installed, the monitoring range covered by each probe is very limited, and the detection of the length direction of the ice layer is difficult to develop. For applications requiring monitoring of a wide range, such as monitoring of ice overflow, a large number of ultrasonic probes need to be arranged, which has some difficulty in practical application.
As will be described in detail below with reference to an aircraft wing 40, the ice layer at the leading edge of the wing 40 tends to have a complex geometry during flight, and the ice layers of different configurations have different effects on the flight. Therefore, the ice detection for the front edge of the wing 40 needs to detect the icing range and the geometric shape of the ice layer, and at this time, the two detection modes of the ultrasonic guided wave phased array 10 and the ultrasonic echo phased array 20 are combined to realize accurate detection of the position and the geometric shape of the ice layer. Referring to fig. 2, the ultrasonic guided wave phased array 10 tests the position of the ice body 30 along the surface of the wing 40, and the ultrasonic echo phased array 20 acquires a two-dimensional map of the ice body 30 along the thickness direction of the wing 40.
The measuring method in the embodiment of the application comprises the following steps:
in step S01, positional information of the ice body 30 is acquired based on the ultrasonic guided wave phased array 10.
In a specific embodiment, before the ultrasonic guided wave phased array 10 obtains the position information of the ice body 30, a three-dimensional volume coordinate system V is established with the array element geometric center of the ultrasonic echo phased array 20, and the ultrasonic guided wave phased array 10 is calibrated in the three-dimensional volume coordinate system V, so that the position information obtained by the ultrasonic guided wave phased array 10 can be converted into coordinates in the three-dimensional volume coordinate system V, and then the ultrasonic echo phased array 20 can obtain the position information of the ice body 30 relative to the probe of the ultrasonic echo phased array 20. The position information of the ice 30 includes a position area of the wing 40 where the ice 30 is located and a position coordinate set of each point on the icing range contour line.
In the detection process of the ultrasonic guided wave phased array 10, the ultrasonic guided wave phased array 10 sends ultrasonic guided waves to detect along the surface of the wing 40, so that a position area where the ice body 30 is located is obtained, and further three-dimensional coordinates of each point on the contour line of the ice body 30 on the wing 40 are obtained, and the three-dimensional coordinates of each point on the contour line of the ice body 30 on the wing 40 are used as position information of the ice body.
In step S02, a two-dimensional ultrasound image of the ice body 30 is acquired in real time based on the ultrasound echo phased array 20.
In a specific embodiment, after the ultrasonic echo phased array 20 obtains the position information of the ice body 30, and generates a corresponding scanning path according to the icing range contour line, the scanning path can adopt an electronic scanning mode, that is, the physical position of the probe is not changed, the target is scanned only by changing the focusing position of the beam, and then the probe is excited to emit ultrasonic waves to obtain a two-dimensional ultrasonic image.
After confirming the scanning path, the beam of the probe of the ultrasonic echo phased array 20 traverses the icing range of the ice body 30 according to a preset step length. The focusing depth of the ultrasonic beam is gradually increased when the ultrasonic beam scans the ice body 30 until obvious reflection phenomenon occurs, namely the required focusing depth r under the deflection angle, the corresponding scanning position is the focusing position, and the focusing position has focusing coordinates under the three-dimensional volume coordinate system V。
For example, referring to FIG. 3, an ultrasound echo scans the region of the ice body 30 in a three-dimensional volumetric coordinate system V, deflects in the XOZ plane about the Y-axis of the three-dimensional volumetric coordinate system V, and scans over a range of anglesAnd obtain the depth of focus r at each scanning position 1 ，r 2 ...r ｎ And the focus coordinate at each depth of focus +.>，/>.../>。
After the ultrasonic beam of the ultrasonic echo phased array 20 traverses the icing range of the ice body 30 according to the scanning path, a two-dimensional ultrasonic image of each scanning position on the scanning path is obtained, and the two-dimensional ultrasonic image is synchronously transmitted to a data processing system or module to perform two-dimensional to three-dimensional conversion.
Step S03, based on the positional information and the two-dimensional ultrasound image, a three-dimensional ice-shape image of the ice body 30 is acquired.
In a specific embodiment, the focus coordinate is based onAcquiring the focus coordinate +.>The corresponding deflection angle and deflection displacement of the ultrasound beam. When the ultrasonic wave beam of the ultrasonic echo phased array 20 scans the icing range along the scanning path, focusing coordinates of the ultrasonic wave beam corresponding to different scanning positions are +.>With corresponding scan deflection angles and deflection displacements, both of which are relative to the initial scan position.
Wherein scan deflection related information of the ultrasonic echo beam, such as a deflection angle and a deflection displacement of the beam, is acquired based on the three-dimensional volume coordinate system V for the subsequent two-dimensional image conversion three-dimensional image.
Specifically, referring to FIG. 4, the ultrasonic echo is scanned to the focus coordinatesAt this time, the direction of the corresponding ultrasonic beam in the three-dimensional volume coordinate system V can be expressed by the expression vector +.>Expression, expression vector->The expression of (2) is expressed by spherical coordinates, so that a three-dimensional position can be expressed by the diameter of the spherical coordinates and two angles, and the three-dimensional position is to be expressedSphere coordinate diameter unitization, expression vector +.>Can be expressed as:
（1）
wherein ,、/>、/>unit vectors in X direction, Y direction and Z direction in the three-dimensional volume coordinate system V respectively; /> and />Expression vector +.>Included angles with Y axis and Z axis in three-dimensional volume coordinate system V, +.>Can be expression vector +.>Included angle with the X-axis in the three-dimensional volumetric coordinate system V. And (F)>、/> and />Is also respectively about an x axis, a y axis and a z axis when the two-dimensional ultrasonic image coordinate system B is transformed into the three-dimensional volume coordinate system VIs provided.
Simultaneously, acquiring the coordinates of the array center of the effective array element for exciting the ultrasonic beam in the three-dimensional volume coordinate system V，/>Respectively expressed as translation distances along the x-axis, the y-axis and the z-axis when the coordinate system B of the subsequent two-dimensional ultrasonic image is transformed to the three-dimensional volume coordinate system V. Wherein, the array elements participating in excitation to generate ultrasonic beams are called effective array elements, and not all the array elements are necessarily involved in excitation to generate ultrasonic beams.
Each two-dimensional ultrasound image can be represented by a vectoruAnd the center coordinates of the active array element arrayIts relative position in the three-dimensional volumetric coordinate system V can be described.
In a particular embodiment, the pixel point and resolution of the two-dimensional ultrasound image are acquired based on the two-dimensional ultrasound image. It will be appreciated that two-dimensional images are converted into three-dimensional images, requiring that the pixels in the two-dimensional images be converted into a three-dimensional coordinate system along with resolution.
Specifically, a two-dimensional ultrasonic image coordinate system B is established based on the two-dimensional ultrasonic images, and then the coordinates of pixel points in the two-dimensional ultrasonic image coordinate system B are determined according to the coordinates of each two-dimensional ultrasonic imageu，v) Resolution of two-dimensional ultrasound image in the transverse axis directionAnd resolution in the direction of the longitudinal axis->。
Further, the coordinates of the pixel points in each two-dimensional ultrasonic image are obtainedu，v) Resolution in the horizontal axis directionAnd resolution in the direction of the longitudinal axis->And then, combining the deflection angle of the ultrasonic beam and the deflection displacement of the ultrasonic beam, and converting the two-dimensional ultrasonic image into a three-dimensional ultrasonic image through the coordinate conversion from two dimensions to three dimensions.
The two-dimensional to three-dimensional coordinate conversion formula may be:
（2）
wherein ,is the position coordinate of the pixel point in the three-dimensional volume coordinate system V.
A transformation matrix for a two-dimensional ultrasound image coordinate system B to a three-dimensional volume coordinate system V, comprising: （3）
wherein ,、/> and />Expression vector +.>And the included angles of the three-dimensional volume coordinate system V and the Y axis, the Z axis and the X axis.
In some embodiments of the present application, after the coordinate conversion is completed, the three-dimensional ice image is three-dimensionally reconstructed based on interpolation, so that the displayed image can intuitively reflect the shape information of the scanning position without distortion.
Specifically, in some embodiments, a Bezier curve is used for interpolation, as shown in equation (4):
（4）
wherein ,as control points, n is the order of the bezier curve, and t is a control parameter.
Firstly, a control point and a control window are required to be set, the control window is formed by using four control points, all pixel points in the four control points are traversed, and three-dimensional coordinates and gray values of other positions in a section are obtained according to an interpolation calculation formula as shown in a formula (4).
（5）
wherein ,for four control points-> and />Respectively indicate-> and />Is used for the measurement of the z-coordinate of (c),is the z-coordinate of the voxel point
After the calculation of all Bezier curves in one window is completed, the control window is moved for two frames along the direction of a preset scanning path, so that the control window reaches the next scanning position and contains a new control point, and Bezier curve interpolation is carried out in the new window. And (5) calculating gray values in the overlapping areas by adopting a distance weighting method, wherein the gray values are shown in the formula (5):
（6）
wherein ,representing the voxel value calculated in the last control window,/->Representing the voxel value calculated for the current window,respectively representing the distance between the current voxel and the first and second frame images in the current control window.
The generation of empty voxels may result from irregularities in the arrangement of the two-dimensional images in the reconstructed volumetric coordinate system. In this regard, it is necessary to calculate the gray value of the empty voxel by Bessel interpolation. And constructing three Bezier curves along the x-axis, the y-axis and the z-axis by taking the non-empty voxels as control points for calculating the gray values of the empty voxels, and assigning the average value of the three gray values to the gray values of the empty voxels to finish three-dimensional reconstruction.
According to the application, two ultrasonic phased arrays are adopted to detect the icing ice shape outline on the surface of the wing 40, after the ultrasonic guided wave phased array 10 detects the icing region information, the ultrasonic echo phased array 20 immediately detects the icing shape of the icing region, so that the instantaneity of detection is ensured, the icing information is fed back to aviation personnel in time, and the subsequent judgment and the provision of immediate effective data by means are facilitated. If a single phased array is adopted, the phased array needs to perform data processing after scanning an icing region, and icing shapes at the icing region can be detected after adjusting a delay rule. Secondly, the ultrasonic phased array with two performances is integrated on one phased array, and the manufacturing cost is greatly increased due to the influence of production factors.
Phased array ultrasound imaging can achieve accurate detection of all positions within a monitoring range without moving the wafer position by arranging fewer piezoelectric wafers. The phased array ultrasonic imaging technology is applied to icing detection, so that the icing detection precision and range can be improved, and the accurate detection of the icing range can be realized, thereby further reducing the false alarm rate of an icing detection system. Preferably, the phased array probe is a probe for cutting composite materials along two directions, can control ultrasonic sound beams along the two cutting directions, and has higher sensitivity and larger monitoring range. The ice layer formed by freezing the overflow water at the rear edge of the wing 40 has the characteristics of wide distribution range and small thickness of the ice layer, and the two-dimensional array phased array probe with wider monitoring range has better detection effect.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by a computer program. When all or part of the functions in the above embodiments are implemented by means of a computer program, the program may be stored in a computer readable storage medium, and the storage medium may include: read-only memory, random access memory, magnetic disk, optical disk, hard disk, etc., and the program is executed by a computer to realize the above-mentioned functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above can be realized. In addition, when all or part of the functions in the above embodiments are implemented by means of a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and the program in the above embodiments may be implemented by downloading or copying the program into a memory of a local device or updating a version of a system of the local device, and when the program in the memory is executed by a processor.
The foregoing description of the application has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the application pertains, based on the idea of the application.
Claims (5)
1. An on-line ice shape measuring method based on ultrasonic imaging is characterized by comprising the following steps:
acquiring position information of an ice body based on an ultrasonic guided wave phased array;
acquiring a two-dimensional ultrasonic image of the ice body based on an ultrasonic echo phased array;
acquiring a three-dimensional ice shape image of the ice body based on the position information and the two-dimensional ultrasonic image;
the method for acquiring the position information of the ice body based on the ultrasonic guided wave phased array comprises the following steps:
establishing a three-dimensional volume coordinate system V based on the array element geometric center of an ultrasonic echo phased array, and calibrating the ultrasonic guided wave phased array in the three-dimensional volume coordinate system V;
acquiring coordinate information of the ice body based on the ultrasonic guided wave phased array and the three-dimensional volume coordinate system V;
based on the coordinate information of the ice body, acquiring the three-dimensional coordinates of the contour line of the icing range;
the acquiring the two-dimensional ultrasonic image of the ice body based on the ultrasonic echo phased array comprises the following steps:
acquiring a scanning path of an ultrasonic echo phased array based on the three-dimensional coordinates of the icing range contour line;
acquiring focusing coordinates of ultrasonic beam of ultrasonic echo phased array at scanning positions at all places based on scanning path, wherein ,/>Is the first on the scanning pathfFocus coordinates at;
based on the scan path and the focus coordinatesIce is obtainedA two-dimensional ultrasound image of a body at a scan location throughout a scan path;
based on the focus coordinatesAnd the two-dimensional ultrasonic image is used for acquiring a three-dimensional ice-shaped image of the ice body, and the method comprises the following steps:
based on the focus coordinatesAcquiring the focus coordinate +.>The corresponding deflection angle and deflection displacement of the ultrasonic beam;
acquiring pixel points and resolution of the two-dimensional ultrasonic image based on the two-dimensional ultrasonic image;
and acquiring a three-dimensional ice-shape image of the ice body based on the deflection angle of the ultrasonic beam, the deflection displacement of the ultrasonic beam, the pixel point of the two-dimensional ultrasonic image and the resolution of the two-dimensional ultrasonic image.
2. An on-line ice shape measurement method based on ultrasonic imaging according to claim 1, wherein said focusing coordinates are based onAcquiring the focus coordinate +.>The corresponding deflection angle and deflection displacement of the ultrasonic beam include:
based on the focus coordinatesAcquiring the focusing coordinate corresponding to the ultrasonic echo phased array>Is of (1)The array center of the active array element of the ultrasound beam is in the coordinate of the three-dimensional volume coordinate system V +.>And the expression vector of the ultrasound beam in the three-dimensional volume coordinate system V +.>，
The expression vectorComprising:
（1）
wherein ,、/>、/>unit vectors in X direction, Y direction and Z direction in the three-dimensional volume coordinate system V respectively; /> and />Expression vector +.>And an included angle between the three-dimensional volume coordinate system V and the Y axis and the Z axis.
3. The method for online ice shape measurement based on ultrasonic imaging according to claim 2, wherein the acquiring pixels and resolution of the two-dimensional ultrasonic image based on the two-dimensional ultrasonic image comprises:
establishing a two-dimensional ultrasonic image coordinate system B based on the two-dimensional ultrasonic image;
based on the two-dimensional ultrasonic image coordinate system B, acquiring the coordinates of pixel points of the two-dimensional ultrasonic section imageu，v) And resolution of the two-dimensional ultrasound image in the direction of the transverse axis of the two-dimensional ultrasound image coordinate system BAnd resolution in the direction of the longitudinal axis->。
4. An on-line ice shape measurement method based on ultrasonic imaging according to claim 3, wherein said obtaining a three-dimensional ice shape image of the ice body based on a deflection angle of the ultrasonic beam, a deflection displacement of the ultrasonic beam, a pixel point of the two-dimensional ultrasonic image, and a resolution of the two-dimensional ultrasonic image comprises:
based on coordinate conversion formula conversion, projecting the pixel points of the two-dimensional ultrasonic section image into a three-dimensional volume coordinate system V, and obtaining a three-dimensional ice image of the ice body; wherein the coordinate conversion formula includes:
（2）
wherein ,a transformation matrix for a two-dimensional ultrasound image coordinate system B to a three-dimensional volume coordinate system V, comprising: （3）
wherein ,、/> and />Expression vector +.>And the included angles of the three-dimensional volume coordinate system V and the Y axis, the Z axis and the X axis.
5. The method for online ice shape measurement based on ultrasonic imaging according to any one of claims 1 to 4, wherein the three-dimensional ice shape image is subjected to three-dimensional reconstruction based on interpolation method, and a three-dimensional reconstruction graph of an ice body is obtained.
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